/PROG  TL2_DROP
/ATTR
OWNER		= SHIFT;
COMMENT		= "TOOL2 DROP";
PROG_SIZE	= 1523;
CREATE		= DATE 12-01-31  TIME 13:37:18;
MODIFIED	= DATE 12-12-15  TIME 17:09:12;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 31;
MEMORY_SIZE	= 1903;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  WAIT DI[26]=OFF    ;
   5:   ;
   6:J P[1:CLEAR] 50% CNT50    ;
   7:J P[2:CLEAR] 50% CNT50    ;
   8:J P[3:CLEAR] 50% CNT50    ;
   9:J P[4:CLEAR] 50% CNT50    ;
  10:J P[5:CLEAR] 50% CNT100    ;
  11:J P[6:CLEAR] 50% CNT50    ;
  12:J P[7:APPROACH] 30% CNT50    ;
  13:J P[8:APPROACH] 30% CNT50    ;
  14:  WAIT DI[26]=OFF    ;
  15:L P[9:APPROACH] 500mm/sec CNT50    ;
  16:L P[10:DROP] 300mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  17:  DO[13]=OFF ;
  18:  DO[14]=ON ;
  19:  WAIT DI[14]=ON    ;
  20:  WAIT   1.00(sec) ;
  21:L P[11:APPROACH] 100mm/sec CNT50 ACC50 DB    0.0mm,DO[21]=OFF    ;
  22:  WAIT DI[26]=ON    ;
  23:L P[12:APPROACH] 300mm/sec CNT50    ;
  24:J P[13:APPROACH] 30% CNT50    ;
  25:J P[6:CLEAR] 30% CNT50    ;
  26:J P[5:CLEAR] 50% CNT100    ;
  27:J P[4:CLEAR] 50% CNT50    ;
  28:J P[3:CLEAR] 50% CNT50    ;
  29:J P[2:CLEAR] 50% CNT50    ;
  30:J P[1:CLEAR] 50% CNT50    ;
  31:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[5:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   186.358 deg,	J2=   -91.506 deg,	J3=    83.487 deg,
	J4=    77.924 deg,	J5=   -91.685 deg,	J6=   -87.490 deg
};
P[6:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -50.537 deg,	J3=    71.238 deg,
	J4=    71.549 deg,	J5=  -102.895 deg,	J6=   -70.787 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -36.249 deg,	J3=    71.238 deg,
	J4=    62.302 deg,	J5=  -102.895 deg,	J6=    54.156 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   206.609 deg,	J2=   -26.681 deg,	J3=    60.916 deg,
	J4=    76.567 deg,	J5=  -112.175 deg,	J6=    57.867 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   202.312 deg,	J2=   -31.251 deg,	J3=    55.562 deg,
	J4=    77.250 deg,	J5=  -107.400 deg,	J6=    53.351 deg
};
P[10:"DROP"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   202.312 deg,	J2=   -29.221 deg,	J3=    54.248 deg,
	J4=    76.852 deg,	J5=  -107.105 deg,	J6=    52.010 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   203.758 deg,	J2=   -27.248 deg,	J3=    55.457 deg,
	J4=    76.310 deg,	J5=  -108.536 deg,	J6=    52.957 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   206.321 deg,	J2=   -19.924 deg,	J3=    59.420 deg,
	J4=    75.678 deg,	J5=  -112.596 deg,	J6=    56.608 deg
};
P[13:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   205.454 deg,	J2=   -34.173 deg,	J3=    73.489 deg,
	J4=    55.424 deg,	J5=  -103.759 deg,	J6=    14.347 deg
};
/END
